[PhilBot]

You're 100% Correct.

I've not tried doing that on a "move to position", but on our fork lift system last year, we used the encoders to detect when the lift had reached the end of it's travel (and stalled). It would also protect the lift motor if something (eg: a baton) got jammed.

This let us call the raise and lower lift functions with good safety in autonomous and teleop.

When all else fails, Software often comes to the rescue of Hardware

Phil.

ps: I'm told that the LabVIEW DC Motor Controller interface code is more robust this year, and that many of the glitch modes I reported last year have been mitigated.

It will be interesting to run some tests.